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matlabbe
2026-06-12 18:31:31 -07:00
parent 4416f22139
commit 9e3e3b6b3b
1 changed files with 5 additions and 3 deletions
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corelib/test/test_rtabmap_integration.cpp
+5 -3
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@@ -1245,11 +1245,13 @@ TEST_F(RtabmapIntegrationFixture, PR2_Scan2D_RGBD_IcpReg)
EXPECT_EQ(0, result.octomapObstacleCells);
#endif
// Scan-based ICP loop closure with the PR2's 2D laser should align the
// final trajectory to within ~5 cm of the stored ground truth (RMSE
// observed up to ~0.045 m on macOS CI; Linux typically ~0.015-0.02 m).
// final trajectory to within ~6 cm of the stored ground truth. Typical
// observations: Linux ~0.015-0.02 m, macOS ~0.045 m, with occasional
// Linux outliers up to ~0.054 m from the RANSAC correspondence rejector
// in the PCL ICP path.
ASSERT_GE(result.translationalRmseFinal, 0.0f)
<< "No Gt/translational_rmse in stats (ground truth missing?)";
EXPECT_LT(result.translationalRmseFinal, 0.05f)
EXPECT_LT(result.translationalRmseFinal, 0.06f)
<< "Final trajectory RMSE = " << result.translationalRmseFinal << " m";
}